/* Copyright 1990-2022 The MathWorks, Inc. */

/*
 * File: rtw_continuous.h
 *
 * Abstract:
 *   Type definitions for continuous-time support.
 *
 */

#ifndef RTW_CONTINUOUS_H__
#define RTW_CONTINUOUS_H__

#ifdef MATLAB_MEX_FILE
#include "tmwtypes.h"
#else
#include "rtwtypes.h"
#endif

/* For models registering MassMatrix */
typedef enum {
    SS_MATRIX_NONE,
    SS_MATRIX_CONSTANT,
    SS_MATRIX_TIMEDEP,
    SS_MATRIX_STATEDEP
} ssMatrixType;

typedef enum {
    SOLVER_MODE_AUTO, /* only occurs in
                         mdlInitializeSizes/mdlInitializeSampleTimes */
    SOLVER_MODE_SINGLETASKING,
    SOLVER_MODE_MULTITASKING
} SolverMode;

typedef enum { MINOR_TIME_STEP, MAJOR_TIME_STEP } SimTimeStep;

/* =============================================================================
 * Model methods object
 * =============================================================================
 */
typedef void (*rtMdlInitializeSizesFcn)(void* rtModel);
typedef void (*rtMdlInitializeSampleTimesFcn)(void* rtModel);
typedef void (*rtMdlStartFcn)(void* rtModel);
typedef void (*rtMdlOutputsFcn)(void* rtModel, int_T tid);
typedef void (*rtMdlUpdateFcn)(void* rtModel, int_T tid);
typedef void (*rtMdlDerivativesFcn)(void* rtModel);
typedef void (*rtMdlProjectionFcn)(void* rtModel);
typedef void (*rtMdlMassMatrixFcn)(void* rtModel);
typedef void (*rtMdlForcingFunctionFcn)(void* rtModel);
typedef void (*rtMdlTerminateFcn)(void* rtModel);
#ifdef RT_MALLOC
typedef real_T (*rtMdlDiscreteEventsFcn)(void* pModel,
                                         int_T rtmNumSampTimes,
                                         void* rtmTimingData,
                                         int_T* rtmSampleHitPtr,
                                         int_T* rtmPerTaskSampleHits);
#endif

typedef struct _RTWRTModelMethodsInfo_tag {
    void* rtModelPtr;
    rtMdlInitializeSizesFcn rtmInitSizesFcn;
    rtMdlInitializeSampleTimesFcn rtmInitSampTimesFcn;
    rtMdlStartFcn rtmStartFcn;
    rtMdlOutputsFcn rtmOutputsFcn;
    rtMdlUpdateFcn rtmUpdateFcn;
    rtMdlDerivativesFcn rtmDervisFcn;
    rtMdlProjectionFcn rtmProjectionFcn;
    rtMdlMassMatrixFcn rtmMassMatrixFcn;
    rtMdlForcingFunctionFcn rtmForcingFunctionFcn;
    rtMdlTerminateFcn rtmTerminateFcn;
#ifdef RT_MALLOC
    rtMdlDiscreteEventsFcn rtmDiscreteEventsFcn;
#endif
} RTWRTModelMethodsInfo;

#define rtmiSetRTModelPtr(M, rtmp) ((M).rtModelPtr = (rtmp))
#define rtmiGetRTModelPtr(M) (M).rtModelPtr

#define rtmiSetInitSizesFcn(M, fp) ((M).rtmInitSizesFcn = ((rtMdlInitializeSizesFcn)(fp)))
#define rtmiSetInitSampTimesFcn(M, fp) \
    ((M).rtmInitSampTimesFcn = ((rtMdlInitializeSampleTimesFcn)(fp)))
#define rtmiSetStartFcn(M, fp) ((M).rtmStartFcn = ((rtMdlStartFcn)(fp)))
#define rtmiSetOutputsFcn(M, fp) ((M).rtmOutputsFcn = ((rtMdlOutputsFcn)(fp)))
#define rtmiSetUpdateFcn(M, fp) ((M).rtmUpdateFcn = ((rtMdlUpdateFcn)(fp)))
#define rtmiSetDervisFcn(M, fp) ((M).rtmDervisFcn = ((rtMdlDerivativesFcn)(fp)))
#define rtmiSetProjectionFcn(M, fp) ((M).rtmProjectionFcn = ((rtMdlProjectionFcn)(fp)))
#define rtmiSetMassMatrixFcn(M, fp) ((M).rtmMassMatrixFcn = ((rtMdlMassMatrixFcn)(fp)))
#define rtmiSetForcingFunctionFcn(M, fp) \
    ((M).rtmForcingFunctionFcn = ((rtMdlForcingFunctionFcn)(fp)))
#define rtmiSetTerminateFcn(M, fp) ((M).rtmTerminateFcn = ((rtMdlTerminateFcn)(fp)))
#ifdef RT_MALLOC
#define rtmiSetDiscreteEventsFcn(M, fp) ((M).rtmDiscreteEventsFcn = ((rtMdlDiscreteEventsFcn)(fp)))
#endif

#define rtmiInitializeSizes(M) ((*(M).rtmInitSizesFcn)((M).rtModelPtr))
#define rtmiInitializeSampleTimes(M) ((*(M).rtmInitSampTimesFcn)((M).rtModelPtr))
#define rtmiStart(M) ((*(M).rtmStartFcn)((M).rtModelPtr))
#define rtmiOutputs(M, tid) ((*(M).rtmOutputsFcn)((M).rtModelPtr, tid))
#define rtmiUpdate(M, tid) ((*(M).rtmUpdateFcn)((M).rtModelPtr, tid))
#define rtmiDerivatives(M) ((*(M).rtmDervisFcn)((M).rtModelPtr))
#define rtmiProjection(M) ((*(M).rtmProjectionFcn)((M).rtModelPtr))
#define rtmiMassMatrix(M) ((*(M).rtmMassMatrixFcn)((M).rtModelPtr))
#define rtmiForcingFunction(M) ((*(M).rtmForcingFunctionFcn)((M).rtModelPtr))
#define rtmiTerminate(M) ((*(M).rtmTerminateFcn)((M).rtModelPtr))
#ifdef RT_MALLOC
#define rtmiDiscreteEvents(M, x1, x2, x3, x4) \
    ((*(M).rtmDiscreteEventsFcn)((M).rtModelPtr, (x1), (x2), (x3), (x4)))
#endif
#endif /* __RTW_CONTINUOUS_H__ */
